We are not able to resolve this OAI Identifier to the repository landing page. If you are the repository manager for this record, please head to the Dashboard and adjust the settings.
Institute of Electrical and Electronics Engineers (IEEE)
Doi
Abstract
This paper proposes a funnel control method under time-varying hard and soft output constraints. First, an online funnel planning scheme is designed that generates a constraint consistent funnel, which always respects hard (safety) constraints, and soft (performance) constraints are met only when they are not conflicting with the hard constraints. Next, the prescribed performance control method is employed for designing a robust low-complexity funnel-based controller for uncertain nonlinear Euler-Lagrangian systems such that the outputs always remain within the planned constraint consistent funnels. Finally, the results are verified with a simulation example of a mobile robot tracking a moving object while staying in a box-constrained safe space.Part of ISBN 978-1-6654-6761-2QC 20231228</p
Is data on this page outdated, violates copyrights or anything else? Report the problem now and we will take corresponding actions after reviewing your request.